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Table of Content

LAB#

  • Write simple node
  • Add diagnostic task to monitor node state
  • Add diagnostic updater and bind the task
  • Add diagnostic aggregator
  • Show/Monitor diagnostics data

Node#

  • gps_node
    import threading
    import rclpy
    from rclpy.node import Node
    from diagnostic_updater import (Updater,
        DiagnosticTask
    )
    from diagnostic_msgs.msg import DiagnosticStatus
    
    TIMER_INTERVAL = 2
    
    class StateTask(DiagnosticTask):
        def __init__(self, name):
            super().__init__(name)
            self.state = False
    
        def run(self, stat):
            if self.state:
                level = DiagnosticStatus.OK
                msg = "RUNNING"
            else:
                level = DiagnosticStatus.ERROR
                msg = "BROKEN"
    
            stat.summary(level, msg)
            return stat
    
    class GpsNode(Node):
        def __init__(self):
            super().__init__("GPS_NODE")
            self.diag_updater = Updater(self)
            self.diag_updater.setHardwareID("gps")
            self.state_task = StateTask("GPS_TASK")
            self.diag_updater.add(self.state_task)
            self.create_timer(TIMER_INTERVAL, self.timer_handler)
    
        def timer_handler(self):
            self.state_task.state = not self.state_task.state
    
    
    def main(args=None):
        rclpy.init(args=args)
        node = GpsNode()
        rclpy.spin(node)
        node.destroy_node()
        rclpy.shutdown()
    if __name__ == "__main__":
        main()
    

Aggregator config#

qrt_runtime_monitor config
analyzers:
  ros__parameters:
    path: Sensors
    primary:
      type: 'diagnostic_aggregator/AnalyzerGroup'
      path: Demo_group
      analyzers:
        primary:
          type: 'diagnostic_aggregator/GenericAnalyzer'
          path: gps
          startswith: [ 'GPS' ]

launch#

launch
import os
from launch import LaunchDescription
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
from launch.actions import ExecuteProcess

def generate_launch_description():
    ld = LaunchDescription()

    config = os.path.join(
        get_package_share_directory('pkg_python_tutorial'),
        'config',
        'group_diag.yaml'
        )

    gps_node = Node(
        package="pkg_python_tutorial",
        executable="gps_node"
    )

    agg_node = ExecuteProcess(
        cmd=[
            "ros2",
            "run",
            "diagnostic_aggregator",
            "aggregator_node",
            "--ros-args",
            "--params-file",
            config
            ],
        name='aggregator_node',
        emulate_tty=True,
        output='screen')

    robot_monitor = Node(
        package="rqt_robot_monitor",
        executable="rqt_robot_monitor"
    )

    runtime_monitor = Node(
        package="rqt_runtime_monitor",
        executable="rqt_runtime_monitor"
    )

    ld.add_action(gps_node)
    ld.add_action(agg_node)
    ld.add_action(robot_monitor)
    ld.add_action(runtime_monitor)
    return ld

Show Diagnostics with - rqt_runtime_monitor (right) - rqt_robot_monitor (left)